According to the planar constraints, we proved that the product of the fundamental matrix and the homography matrix of an image pair is an antisymmetric matrix.

根据两幅图像中的平面约束，证明了图像对的基础矩阵和同形矩阵的乘积具有反对称的性质。

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The main application is to structured scene, mostly planar structures where there are plentiful constraints to be had from parallelism and orthogonality.

由于结构场景是由大量平面构成的，存在大量的平行性、正交性约束，因此该方法主要应用于结构场景的三维重构。

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Some problems of optimum synthesis of planar multi-bar linkages are studied by the penalty function method with equality and inequality constraints.

在此基础上研究了利用等式约束与不等式约束的惩罚函数法对平面多杆机构进行尺度最优综合的有关问题。

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